/* 
 * File:   robotdata.hpp
 * Author: posypkin
 *
 * Structure to hold robotic data describing concrete robot
 *
 * Created on July 26, 2012, 10:17 AM
 */

#ifndef ROBOTDATA_HPP
#define	ROBOTDATA_HPP

#define MAX_DIM 3

template <class T> struct RobotData {

    RobotData() : mAngles(NULL), mSections(NULL)
    {

    }
    
    /**
     * Dimension of the Robotic space (2 or 3)
     */
    int mDim;

    /**
     * Number of Manipulator sections
     */
    int mNSec;

    /**
     * Section lengths
     */
    T* mSections;

    /**
     * Angle ranges
     */
    Box<T>* mBox;

    /**
     * Final section angle constrains
     */
    T* mAngles;

    /**
     * Tolerance for Pareto-set approximation
     */
    T mEps;

    /**
     * Tolerance for constraints
     */
    T mDelta;
};


#endif	/* ROBOTDATA_HPP */

